Multiple windings electrical motors controllers

ABSTRACT

A circuit for recovering electromagnetic energy from multiple windings electrical motor open circuit armature windings when interrupted while contacted through coupled commutator segments by brushes of the two groups. This energy recovery circuit includes, for one group brush, a half bridge circuit composed of a plurality of diodes coupled between the group brush and positive and negative polarity terminals of a DC electrical energy coupling means, and two or more group brushes are so connected. The diodes are arranged to be back-biased until an open circuit armature winding is interrupted as above and thereby induces voltage which forward-biased until an open circuit armature winding is interrupted as above and thereby induces voltage which forward-biases certain diodes of the half bridge circuits coupled to commutator segments coupled to the ends of the interrupted open circuit armature winding, and thereby electromagnetic energy associated with the interrupted open circuit armature winding is recovered as electrical energy and delivered with respective polarity to the electrical terminals.

This is a continuation-in-part of U.S. patent application Ser. No.188,000, filed Sept. 17, 1980, now abandoned.

SUMMARY OF THE INVENTION

This invention is of controllers for multiple windings electrical motorssuch as are described in co-pending U.S. patent application Ser. No.20,341, filed Mar. 14, 1979, titled Multiple Windings ElectricalMachines; this co-pending application has now been issued as U.S. Pat.No. 4,305,027 and is incorporated herein by this reference. Theco-pending U.S. patent application Ser. No. 06/558,689 filed 12/06/83for reissue of U.S. Pat. No. 4,305,027 issued 12/08/81 is incorporatedherein by this reference.

The present invention provides for force or torque control of a linearor rotary, multiple windings electrical motor by operating variousnumbers of electrical switches which energize various numbers of forceor torque generating winding sets within the motor and by positioning abrush holder. The means of energizing and de-energizing these windingsets are individual electrical switches, which can be sequentiallyoperated to preserve the advantages of a multiple windings electricalmotor at all force or torque levels. The multiple windings electricalmotor is uniquely controllable; the multiple windings electrical motorhas multiple brushes in two groups contacting the commutator whichprovide multiple electrical control points. Each of these brushes can beenergized, either directly or in series with a stator winding or portionthereof, through an electrical switch with electrical energy derivedfrom an electrical energy source. Thus, by operating these electricalswitches the magnitude of force or torque generated by the multiplewindings electrical motor can be controlled. Another aspect of themultiple windings electrical motor force or torque control is use of theposition of the brush holder to control the positions of the groups ofbrushes and thereby control the direction and magnitude of force ortorque generation. This invention includes the sequential operation ofindividual electrical switches to proceed in increments to any desiredforce or torque generation with the capability of the motor.

This invention includes means for recovering electromagnetic energy frommultiple windings electrical motor open circuit armature windings wheninterrupted while contacted through coupled commutator segments bybrushes of the two groups. This energy recovery means includes, for onegroup brush, a half bridge circuit composed of a plurality of diodescoupled between the group brush and positive and negative polarityterminals of a DC electrical energy coupling means, and two or moregroup brushes are so connected. The diodes are arranged to beback-biased until an open circuit armature winding is interrupted asabove and thereby induces voltage which forward-biases certain diodes ofthe half bridge circuits coupled to commutator segments coupled to theends of the interrupted open circuit armature winding, and therebyelectromagnetic energy associated with the interrupted open circuitarmature winding is recovered as electrical energy and delivered withrespective polarity to the electrical terminals.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This application is related to motor speed and torque controllers forboth positive and negative torques, and to motor starters, and poweroutput controllers. This invention relates to such controllers forbrush-type machines, and more particularly, to controllers forbrush-type electrical machines of the type disclosed in the referencedco-pending application titled Multiple Windings Electrical Machines.

2. Background Art

Previous brush-type electrical machine controllers have used seriesresistance to control speed and torque and current, especially theexcessive currents caused during the starting of series motors. Thecontrol of these brush-type machines is very important in consideringthe application of these motors. There has been a lack of areliably-operating, efficient controller for brush-type machines. Thespeed and torque of a series motor energized from a constant potentialsupply can be controlled by inserting resistance in series with thesupply line. Speed control for shunt and compound motors can be obtainedby inserting resistance in series with the armature circuit only. Thestator field flux of shunt motors can be varied to control the speed ofthese motors, although special care is required to prevent overspeedingof the motor if the shunt stator field flux becomes very weak. The speedof DC motors can be varied by varying the voltage applied to the motors;the Ward Leonard system of speed control is an example of varying thevoltage applied to the DC motor. In the Ward Leonard system theadjustable output voltage from a motor-generator set is applied to themotor. Electric vehicle motor controllers use semiconductor choppercontrollers as well as electromechanical switches to connect resistorsand batteries in various combinations to regulate electrical power inputto the motor, which thereby control the motor output torque.

Torque or force generated by a rotary or linear motor, respectively, areeach a cause for, tend to cause, relative movement of the respectivemotor stator with respect to the respective motor armature. Torque is acause for relative movement between armature and stator in a rotarymotor, and force is a cause for relative movement between armature andstator in a linear motor.

3. Multiple Windings Electrical Motor

The motor comprises a stator and an armature, which are constrained withrespect to each other by bearings means to bidirectional movement of thearmature along only one axis. The stator comprises a stator magneticyoke, stator magnetic poles, structural support means, a key meansinterlocking the stator magnetic yoke and the structural support means,magnetomotive force means, a brush holder means, brushes, and electricalenergy coupling means. The stator magnetomotive force means are eitherstator windings with current flowing through them, or permanent magnets.The brush holder means positions the brushes and spring-loads themagainst the commutator and insulates the brushes from each other. Thearmature comprises a magnetic armature with teeth regularly spaced atthe armature winding pitch, a commutator with conducting commutatorsegments, multiple open circuit armature windings per repeatable sectionattached to and electrically insulated from the magnetic armature andeach other and with active edges of each winding spaced one stator polepitch apart in the direction of relative movement, a mechanical energycoupling means, and a key means interlocking the magnetic armature andthe mechanical energy coupling means. The armature and stator areconstrained with respect to each other by bearing means which aremounted between the stator structural support means and the armaturemechanical energy coupling means, so that there is an air gap separatingthe armature from the stator, and particularly separating the magneticarmature and the stator magnetic poles.

The armature and stator are preferred to have roughly equivalentmagnetic energy, which is the magnetomotive force times the flux densitytimes the volume, to more effectively interact with each other. Thenumber of multiple armature windings is chosen for smoothness ofoperation, practicality, controllability, and convenience. It isrecognized that an electrical motor of this type could be configured tohave more armature windings than stator windings or that there could beno stator windings, as in a permanent-magnet field motor. The commutatorhas uniformly sized and spaced conducting, commutator segments which areinsulated from the armature mounting and each other. It is preferredthat one end of each armature winding be electrically connected to oneand only one commutator segment; however, it is recognized that therecould be additional commutator segments not connected to any armaturewinding, and that there could be more than one commutator segmentelectrically connected to one armature winding end. It is preferred thatthe number of commutator segments be equal to the number of armaturewinding ends, and that also equals the number of armature teeth orwinding slots or winding positions; it is also preferred that thearmature winding ends be connected electrically to the closestcommutator segment.

A multiple windings electrical motor may be constructed of any practicalnumber of stator pole pairs, which are also called repeatable sections;double-dashed lines in certain of the FIGS. 1 through 18, mark theboundaries of one repeatable section of the motors shown. Repeatablesections are interconnected at the stator magnetic yoke, the statorstructural support means, the brush holder means, the armaturemechanical energy coupling means, the magnetic armature, the commutator,and at the electrical energy coupling means.

In operation, the multiple windings electrical motor utilizes externalenergy to establish a magnetic field and magnetic flux which links thestator magnetic yoke, stator magnetic poles, magnetic armature, air gap,armature windings, and stator windings, when they are present. Theexternal energy for the motor is supplied by an electrical energy sourcesuch as a unidirectional voltage source; the electrical energy sourcemay be an alternating current source when the electrical motor is auniversal type; some of the external energy may be supplied by one ormore permanent magnets when such permanent magnets are used to establishthe stator magnetomotive force.

The multiple windings electrical motor includes brush vacancies--twobrush vacancies per repeatable section. These vacancies are used toavoid shorting between positive and negative voltages, or AC voltages,by a brush bridging two commutator segments, and to interrupt thearmature current and initiate the energy disposal from an armaturewinding-to-be-commutated. The brush vacancies divide the brushes intotwo groups called first brush group means and second brush group means.

Stator windings with current flow or permanent magnets magneticallyenergize the stator magnetic poles. Armature windings with current flowestablish armature electromagnetic poles. These stator magnetic polesand armature electromagnetic poles are positioned with respect to eachother so that the total magnetic field energy of the motor willincrementally increase when the energized armature windings moveincrementally with respect to the stator; this is the method of force ortorque generation by both linear and rotary motors. The magnitude of theforce or torque generated is proportional to the change in the motormagnetic field energy per unit relative movement. The commutation of thearmature windings is designed to maintain the force or torque generatingactions of the stator and armature described above, by continuouslyre-establishing these positional relationships, approximately, in spiteof relative movement.

The energy in the interrupted armature winding can be disposed of bydissipating it or by recovering it for re-use. To dissipate theinterrupted armature windings energy external to the multiple windingselectrical motor, add electrical connections from the group brushes toexternally located dissipating devices through half bridge circuits; thediodes of the half bridge circuits are connected to be normallyback-biased and only forward-biased when the energy dissipation is beingdone. The various types of energy dissipating devices considered are:resistors, back-to-back zener diodes, back-to-back selenium clipperdiodes and varistors. The recovery of energy from interrupted armaturewindings is believed to be a new concept, and one which will improve theefficiency of electrical machines.

DISCLOSURE OF THE INVENTION

This invention controls the positive and negative force or torquegenerated respectively by a linear or rotary electric motor. This ispositively done by simultaneously energizing various numbers of motoropen circuit armature windings, thereby establishing various numbers ofarmature electromagnetic poles of the strength levels available. Thestator magnetic poles are energized by permanent magnets orelectromagnetically to various numbers of poles and to the strengthlevels available using one or more stator windings. The motor force ortorque generated is controlled by varying the cumulative strengths ofmagnetic interaction between the armature electromagnetic poles and thestator magnetic poles, which is controlled by varying the armature polestrengths and the stator pole strengths to the degree possible inparticular configurations. These controllers also control adjustment ofthe armature electromagnetic pole positions with respect to the statormagnetic poles for maximum effectiveness and efficiency at one or morecontrol steps. These controllers also recover electromagnetic energyfrom interrupted and un-energized armature windings as electrical energyand make this energy available for re-directed usage, such as negativeforce or torque generation. These controllers energize only the portionsof the motor needed to generate the desired force or torque. Thesecontrollers have very low power dissipation because the control elementsare on-off switches, which are designed to have low power dissipation inboth the "on" and "off" states. In most configurations, the maximummotor armature current is carried through several parallel windings andcontrol elements, thus reducing the current requirements of the controlelements compared to using a single control element. These controllerscan control motors with either stators stationary and armatures movableor armatures stationary and stators movable and brushless motors. Thesemotors and controllers can be configured as brushless by having movablepermanent magnet stators and stationary armatures which use appropriatecommutation means.

Each motor repeatable section has at least one force or torquegenerating winding set, which comprises an open circuit armature windingand a stator magnetomotive force means, which may be generated by astator winding with current flow or a permanent magnet. Magnetomotiveforce is the force by which a magnetic field is produced, either by acurrent flowing through a coil of wire, or by the proximity of amagnetized body. Each force or torque generating winding set isenergized by electrical current flow through a force or torquegenerating set current control means. This control means may include anyof a variety of electrical switches or may include a means to controlthe commutating contact of individual brushes of the first and secondgroups of brushes, associated with individual force or torque generatingwinding sets by lifting brushes from the commutator.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a linear representation of a two-pole multiple windingselectrical motor controller in which the multiple windings electricalmotor has four force or torque generating winding sets and the force ortorque may be varied between zero and maximum in four discrete steps byoperating four, two-pole, single throw switches. The multiple windingselectrical motor linear representation uses the same drawingsimplifications used in the reference application and adds a brushholder. To simplify FIG. 1 and represent the multiple windingselectrical motor in one view, the commutator 88 with commutator segments72 through 81 and brushes 14, 22, 28, 34, 15, 13, 21, 27, 33, and 16 andconnecting circuits and brush holder 82 and brush springs, onedesignated 93, are shown in an enlarged air gap between the statormagnetic poles 70 and 71 and the magnetic armature 86. The preferred andpractical electrical machine construction in accordance with thereference application and the present application is to remove theseelements from this fictitious but simplifying air gap placement andplace them adjacent to stator magnetic yoke 83 and armature magneticmember 86. Several figures showing the practical placement of thecommutator and brush holder with brushes in a rotary multiple windingselectrical machine are shown in the reference application. In FIG. 1dotted lines are used to represent stator or armature windings as theypass behind stator or armature magnetic members respectively.

FIG. 2 shows a cam-operated controller for operating the four switchesof FIG. 1 to provide force or torque control in a forward direction forthe multiple windings electrical motor of FIG. 1.

FIG. 3 is a representation of a portion of the multiple windingselectrical motor of FIG. 1 showing the brush holder shifted with respectto the stator poles to a neutral position in which the multiple windingselectrical motor favors zero speed, and the multiple windings electricalmotor does not generate either forward or reverse force or torque.

FIG. 4 is a representation of a portion of the multiple windingselectrical motor of FIG. 1 showing the brush holder shifted with respectto the stator poles to cause force or torque generation in the reversedirection, or opposite direction from FIG. 1.

FIG. 5 shows a cam-operated controller for operating the switches ofFIG. 1 to provide force or torque control in either the forwarddirection, represented by the brush holder position in FIG. 1, or thereverse direction, represented by the brush holder position of FIG. 4.

FIG. 6 shows a linear representation of a four-pole multiple windingselectrical motor controller in which the multiple windings electricalmotor has eight force or torque generating winding sets and the force ortorque may be varied between zero and maximum in eight discrete steps byoperating eight, three-pole, single throw switches. The multiplewindings electrical motor linear representation uses the same type ofdrawing simplifications used in the reference application and FIG. 1,except herein the commutator is designated 223, the commutator segmentsare designated 177 through 196, the brush holder is designated 222, thebrushes are designated 157 through 176, and one brush spring isdesignated 226. In FIG. 6, dotted lines are used to represent stator orarmature windings as they pass behind stator or armature magneticmembers representively.

FIG. 7 shows a linear representation of a repeatable section of amultiple windings electrical motor with a positioning lever on the brushholder to control the brush holder position. The FIG. 7 motor repeatablesection features include three open circuit armature windings, two groupbrushes, permanent magnets to energize the stator poles, and brushvacancy brushes with electrical connections available.

FIG. 8 shows an alternating current electrical energy source for causingcurrent flow in armature windings, and stator windings when they arepresent.

FIG. 9 shows a battery for causing current flow in armature windings,and stator windings when they are present.

FIG. 10 shows a resistor typical of those which can be connected forenergy disposal.

FIG. 11 shows two zener diodes connected back-to-back for energydisposal. Single zener diodes may also be used for energy disposal.

FIG. 12 shows a varistor which can be connected for energy disposal.

FIG. 13 shows a half bridge circuit, which is composed of two diodes andcan be connected for energy recovery and disposal.

FIG. 14 shows a two-pole switch which can be connected to controlcurrent flow of a multiple windings electrical motor.

FIG. 15 shows a single-pole switch which can be connected to controlcurrent flow in a multiple windings electrical motor, and which also canbe operated with the two-pole switch of FIG. 14 to make a three-poleswitch which can be connected to control current flow in a multiplewindings electrical motor.

FIG. 16 shows a general cooperative control for a multiple windingselectrical motor which combines two or more means to control the forceor torque generated by the motor.

FIG. 17 shows a particular cooperative controller for the multiplewindings electrical motor of FIG. 6 in which the current controlswitches are operated in conjunction with the positioning of the brushholder.

FIG. 18 shows a controller for a linear representation of a repeatablesection of a multiple windings electrical motor with a positioning leveron the brush holder and two current control switches. The motor has twoopen circuit armature windings, two group brushes, and a single, splitstator winding. Shown also in FIG. 18 is controllable energy recoveryand disposal from the two group brushes to cause dynamic braking; thecontrol shown is by switches although the same can be achieved bylifting group brushes from the commutator contact.

DETAILED DESCRIPTION OF THE INVENTION

This detailed description will explain: (1) the forward torquecontroller for a two-stator-pole multiple windings electrical motor, (2)the recovery of energy from armature windings not energized as a forceor torque generating set, (3) the reverse torque controller for atwo-stator-pole multiple windings electrical motor, (4) the forwardtorque controller for the general, multiple-stator-pole-pair multiplewindings electrical motor as represented by a two-stator-pole-pairmultiple windings electrical motor, (5) the reverse torque controllerfor the general multiple windings electrical motor, (6) the control of asingle-repeatable-section multiple windings electrical motor using brushholder positioning and an assortment of control elements, (7) thecooperative control of current control switches and brush holderposition, and (8) the control of a single-repeatable-section multiplewindings electrical motor using brush holder position, current controlswitches, and switches to control group brush energy recovery anddisposal.

Consider a two-pole multiple windings electrical motor as represented inlinear fashion in FIG. 1 having two stator magnetic poles 70 and 71 withfour split stator windings; 9-10 and 11-12, 17-18 and 19-20, 23-24 and25-26, and 29-30 and 31-32, and five open circuit armature windings;60-61, 62-63, 64-65, 66-67, and 68-69. It will be recognized from thereference application that four stator windings is a number of statorwindings chosen for the simplicity of presenting this multiple windingselectrical motor controller and does not imply any multiple windingselectrical motor or controller limitation at more or less than fourstator windings; similarly, the five open circuit armature windings arechosen for the simplicity of presenting this multiple windingselectrical motor controller and does not imply any multiple windingselectrical motor or controller limitation at more or less than five opencircuit armature windings. FIG. 1 also shows: stator magnetic yoke 83,structure support 84, key 85, brush spring 93, spring-loaded brushes 13,14, 21, 22, 27, 28, 33, 34, brush holder 82, magnetic armature 86 withteeth one of which is 87, commutator 88 with conducting segments 72through 81, mechanical energy coupling 89, key 90, and brush vacancies15 and 16. In a rotary multiple windings electrical motor the structuralsupport 84 is the stator housing and the mechanical energy coupling 89is the shaft, and bearing position the shaft in the housing and allowthe shaft to rotate within the housing; this construction is shown inthe reference application. A brush vacancy is also defined in thereference application, but in general terms, a brush vacancy is a gap inthe brushes which allows the interruption and reversal of the opencircuit armature windings currents. The brushes are divided at brushvacancies into two groups: first brushes group brushes and secondbrushes group brushes. The brushes 13, 21, 27, and 33 are of the firstgroup, and brushes 14, 22, 28, and 34 are of the second group. The brushholder 82 is mechanically attached to the structural support 84, and thecommutator 88 is mechanically attached to the mechanical energy coupling89. Such a multiple windings electrical motor can be varied in torqueincrements of approximately one-fourth of the maximum torque capabilityby energizing or de-energizing the split stator windings one set at atime in a four-step sequence.

In FIG. 1, the first step of this sequence is to energize the statorwindings 9-10 and 11-12 from unidirectional voltage source 51 by closingelectrical switches 1 and 2. The stator windings 9-10 and 11-12 connectto first and second brushes group brushes 13 and 14 respectively, whichconnect through various segments of the commutator 88 at variousarmature positions to energize open circuit armature windings onceremoved contrary to the direction of torque generation from the brushvacancies 15 and 16, and from which the armature and open circuitarmature windings will move toward the brush vacancies in the forwarddirection of torque generation--armature movement to the left in FIG. 1.

In FIG. 1, the second step of this sequence is to continue the firststep and additionally energize the stator windings 17-18 and 19-20 fromthe source 51 by closing electrical switches 3 and 4. The statorwindings 17-18 and 19-20 connect to first and second brushes groupbrushes 21 and 22 respectively, which connect through various segmentsof the commutator 88 at various armature positions to energize opencircuit armature windings twice removed from the brush vacanciescontrary to the direction of torque generation.

In FIG. 1, the third step of this sequence is to continue the secondstep and additionally energize the stator windings 23-24 and 25-26 fromthe source 51 by closing electrical switches 5 and 6. The statorwindings 23-24 and 25-26 connect to first and second brushes groupbrushes 27 and 28 respectively, which connect through various segmentsof the commutator 88 at various armature positions to energize opencircuit armature windings thrice removed from the brush vacanciescontrary to the direction of torque generation.

In FIG. 1, the fourth step of this sequence is to continue the thirdstep and additionally energize the stator windings 29-30 and 31-32 fromthe source 51 by closing electrical switches 7 and 8. The statorwindings 29-30 and 31-32 connect to first and second brushes groupbrushes 33 and 34 respectively, which connect through various segmentsof the commutator 88 at various armature positions to energize opencircuit armature windings fourth removed from the brush vacanciescontrary to the direction of torque generation.

Notice that these four steps energize first and second brushes groupbrushes at positions in a sequence with respect to the brush vacancies,which is a sequence directed contrary to the torque-generationdirection. The first step energizes the first and second brushes groupbrushes in the positions once removed from the brush vacancies; thesecond step continues the first step and energizes the first and secondbrushes group brushes in the positions twice removed from the brushvacancies; the third step continues the second step and energizes thefirst and second brushes group brushes in the position thrice removedfrom the brush vacancies; and, the fourth step continues the third stepand energizes the first and second brushes group brushes in thepositions fourth removed from the brush vacancies. At each step of thisenergizing sequence of the stator windings and theseopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions, the previously energized steps are retained as a newstep is energized. Thus, the multiple windings electrical motorconfiguration is retained at each energized step.

The de-energization sequence is the reverse of the energizing sequence.Thus, from the condition of having all fouropen-circuit-armature-windings-energizing first and second brushes groupbrushes positions energized, the electrical switches 7 and 8 are openedto reduce to the condition having only threeopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions energized; from the condition of having threeopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions energized, the electrical switches 5 and 6 are openedto reduce to the condition of having only twoopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions energized; from the condition of having twoopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions energized, the electrical switches 3 and 4 are openedto reduce to the condition of having only oneopen-circuit-armature-windings-energizing first and second brushes groupbrushes position energized; and, to completely deenergize the multiplewindings electrical motor, the electrical switches 1 and 2 are opened.

The recovery of electromagnetic energy from current interruption in opencircuit armature windings while they are yet removed from the brushvacancies is done by diodes connected from each of brushes 13, 14, 21,22, 27, 28, 33, and 34 to the positive and the negative terminals of theunidirectional voltage source 51. These diodes are designated 35 through50 in FIG. 1. Each diode connected to the unidirectional voltage source51 positive terminal is connected to that terminal by its cathode andits anode is connected to the brush. Each diode connected to theunidirectional voltage source 51 negative terminal is connected to thatterminal by its anode and its cathode is connected to the brush. A diodepair such as 35 and 36 is called a half bridge circuit. The recovery ofelectromagnetic energy takes place as follows under the followingconditions. Assume the multiple windings electrical motor of FIG. 1 isoperating at the step-two torque level with two torque generating setsenergized as described above; this will occur when electrical switches1, 2, 3, and 4 are closed. When the armature 87 with attached commutator88 moves to the left from the FIG. 1-- shown position one-half thecommutator segments pitch, all the brushes 13, 14, 21, 22, 27, 28, 33,and 34 will straddle a gap between some of the commutator segments 72through 81 and all the open circuit armature windings will more-or-lessshare in-parallel the energizing current flowing through the statorwindings energized by the electrical switches 1, 2, 3, and 4. When thearmature moves farther in the same direction, the parallel energizingcurrent in the open circuit armature windings in the two un-energizedopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions thrice and fourth removed from the brush vacancies,will be interrupted by the commutator and commutator segments moving sothe brushes no longer straddle the gaps between the commutator segments;this current interruption will induce a large inductive kick voltage inthe open circuit armature windings at the two un-energizedopen-circuit-armature-windings-energizing first and second brushes groupbrushes positions connected to brushes 27, 28, 33, and 34, which voltageis of opposite polarity to the voltage which caused the open circuitarmature windings currents to flow; this opposite polarity voltage isconducted to the connected commutator segments and to the brushes 27,28, 33, and 34 riding on these segments; through the diodes connectedbetween these brushes and the unidirectional voltage source terminals,the electromagnetic energy is recovered as electrical energy for re-use,dissipation or storage in a manner similar to that described in thereferenced application. This same method of electromagnetic energyrecovery from un-energized open circuit armature windings at energizingfirst and second brushes group brushes positions applies to a multiplewindings electrical motor with any number of stator pole pairs.

If the foregoing is defined as controlling forward torque, then thecontrol of reverse torque generation can be achieved by shifting thebrush holder 82 of FIG. 1 by one stator pole pitch and operating theelectrical switches in an inverted sequence. The reverse torquegeneration conditions are established by shifting the brush holder 82 tothe position shown in FIG. 3 and then to the position shown in FIG. 4.To make the shift from the FIG. 1 to the FIG. 4 positions, the brushholder 82 has bearings between it and the structural support 84; thebearings are not shown in the FIG. 1, FIG. 3, or FIG. 4. The brushholder moves, shifts, so as to maintain the required operating brushspring loads between the brushes and the commutator segments. Thecontrol of reverse-directed torque at four torque levels will bedescribed by referring to FIG. 1, FIG. 4, and FIG. 5. The reverse torquegenerating sequence, the inverted sequence, starts with the brush holder82 in the position shown in FIG. 4 and with all the electrical switches1, 2, 3, 4, 5, 6, 7, and 8 open, as shown in FIG. 1.

In FIG. 1 with brush holder 82 positioned as in FIG. 4, the first stepof the reverse sequence is to energize the stator windings 29-30 and31-32 from the unidirectional voltage source 51 by closing electricalswitches 7 and 8. The stator windings 29-30 and 31-32 connect to firstand second brushes group brushes 33 and 34 respectively, which connectthrough various segments of the commutator 88 at various armaturepositions to energize open circuit armature windings once removed fromthe brush vacancies 15 and 16, and from which the armature and opencircuit armature windings will move toward the brush vacancies in thereverse direction of torque generation--armature movement to the rightin FIG. 4.

In FIG. 1 with brush holder 82 positioned as in FIG. 4, the second stepin the reverse torque generating sequence is to continue the first stepof this sequence and additionally energize the stator windings 23-24 and25-26 from the source 51 by closing electrical switches 5 and 6. Thestator windings 23-24 and 25-26 connect to first and second brushesgroups brushes 27 and 28 respectively, which connect through varioussegments of the commutator 88 at various armature positions to energizeopen circuit armature windings twice removed from the brush vacanciescontrary to the direction of torque generation.

In FIG. 1 with the brush holder 82 positioned as in FIG. 4, the thirdstep of the reverse torque generating sequence is to continue the secondstep of this sequence and additionally energize the stator windings17-18 and 19-20 from the source 51 by closing electrical switches 3 and4. The stator windings 17-18 and 19-20 connect to first and secondbrushes groups brushes 21 and 22 respectively, which connect throughvarious segments of the commutator 88 at various armature positions toenergize open circuit armature windings thrice removed from the brushvacancies contrary to the direction of torque generation.

In FIG. 1 with brush holder 82 positioned as in FIG. 4, the fourth stepof the reverse torque generating sequence is to continue the third stepof this sequence and additionally energize the stator windings 9-10 and11-12 from the source 51 by closing electrical switches 1 and 2. Thestator windings 9-10 and 11-12 connect to first and second brushesgroups brushes 13 and 14 respectively, which connect through varioussegments of the commutator 88 at various armature positions to energizeopen circuit armature windings fourth removed from the brush vacanciescontrary to the direction of torque generation.

In FIG. 1 with brush holder 82 positioned as in FIG. 4, the decrease inreverse torque generation level is the inverse, or backing-down thesequence, of the above sequence for increasing reverse torque generationlevel, or magnitude.

The direction of torque generation can be controlled in a multiplewindings electrical motor by (1) a brush holder shift, as describedabove, wherein the brush holder is shifted by one or an odd number ofstator pole pitches, or (2) by winding current reversal wherein currentsthrough stator windings are reversed with respect to currents througharmature windings. The preferred of these two methods of torquedirection control for the multiple windings electrical motor is byshifting the brush holder by one, or an odd number, of stator polepitches in the direction of commutator movement. The winding currentreversal is more complex in requiring additional switchgear on amultiple windings electrical motor to effect the reversal. Shifting thebrush holder requires bearings on the brush holder to maintain the brushholder relationship to the commutator and it requires flexibleelectrical connections to the brushes.

FIG. 2 shows a push-knob operated cammed switch controller with a springreturn for use in controlling the forward torque generated by a multiplewindings electrical motor such as shown in FIG. 1. The controller isshown in the zero torque position with all the electrical switches open,and the cam 91 held to the left against its stop by the compressionspring 92. When it is desired to increase the multiple windingselectrical motor forward torque, the knob 90 is pressed, moving cam 91to the right, and compressing spring 92. The cam 91 is designed so theelectrical switches operate in the sequence: 1 and 2, 3 and 4, 5 and 6,and 7 and 8, and that previously closed switches will continue closed asnew ones are operated. Thus, pressing the knob 90 slowly until it causesthe cam 91 to hit the right stop and slowly releasing knob 90 causes theforward torque of the multiple windings electrical motor of FIG. 1 toincrease to the maximum torque in four steps and to decrease to zerotorque through the same four steps in reverse order. Also notice thatthe torque may be increased to a less-than-maximum level and decreasedfrom that level.

FIG. 5 shows a dual-cam switch controller operating one set ofelectrical switches with two cams 91 and 95 with separate push knobs tooperate each cam and separate springs to return each cam; cam 91 isoperated by knob 90 and returned by spring 92, and cam 95 is operated byknob 94 and returned by spring 96. The knot 90, cam 91, and spring 92operate just as described for FIG. 2 to control forward torque levels,when the brush holder 82 is in the position shown in FIG. 1; the knob94, cam 95, and spring 96 operate similarly to the knob 90, cam 91 andspring 92, but these control the reverse torque levels. Before the knob94, cam 95, and spring 96 can be operated efficiently in the multiplewindings electrical motor fashion, the brush holder 82 must be shiftedto the FIG. 4 position. Once that has been done, pressing the knob 94slowly to the cam 95 left stop and slowly releasing knob 94 causes thereverse torque of the multiple windings electrical motor of FIG. 4 toincrease to the maximum torque in four steps and to decrease to zerotorque through the same four steps in reverse order. Operating the cam95 in this manner causes the electrical switches to be operated in theinverted sequence described above for control of reverse torque.

Notice that the basic electrical switch required to switch each step ofthe torque varying sequence for the FIG. 1 multiple windings electricalmotor with two stator poles, is a double-pole, single-throw (DPST)switch, such as switches 1 and 2 combined. The required basic electricalswitch is different when the multiple windings electrical has two ormore pairs of stator poles. In these cases the armature winding currentflow circuits are completed half the time through adjacent repeatablesections, assuming a constant motor speed; therefore, a third switchpole can be used for each step connected in parallel with another switchpole in an adjacent repeatable section to control energization of asecond brushes group brush. In FIG. 6, third switch poles are shownparallel-connected between the negative terminal of source 51 and thewinding ends 128, 132, 136, 140, 150, 152, 154, and 156. These thirdswitch poles may be controlled as an additional pole on each two poleswitch, making three pole switches, or the third poles may be controlledindividually in proper relation to the other switches to provide anintermediate torque level between respective steps. A controller usingthree pole switches for the multiple windings electrical motor with twoor more pairs of stator poles will be described in the followingsection.

The controllers for multiple windings electrical motors with two or morepairs of stator poles are described in the following by referring toFIG. 6. A multiple windings electrical motor with two stator poles doesnot have the generality of a multiple windings electrical motor with twoor more pairs of stator poles when a controller is being described. Toexplain the more general multiple windings electrical motor controller,consider a multiple windings electrical motor consisting of two pair ofstator poles with split-series stator windings as shown in FIG. 6. TheFIG. 6 shows a multiple windings electrical motor with two stator polepairs with four stator windings per pole pair and five open circuitarmature windings per pole pair. This combination is representative ofmultiple windings electrical motors with larger numbers of pairs ofstator poles and with different numbers of stator windings and armaturewindings per pole pair. This FIG. 6 multiple windings electrical motorcan be varied from zero torque to maximum torque in eight increments byclosing eight three-pole single-throw electrical switches in sequence,or with more increments if the switches are grouped for control astwo-pole single-throw switches and as separate third pole single-throwswitches. These electrical switch poles are designated 101 through 124.These electrical switches switch both ends of the split-series statorwindings. The reason for switching both ends of the split-series statorwindings which connect to the unidirectional voltage source 51 is toallow electromagnetic energy recovery using diodes connected to thesource 51 electrical terminals from the un-energizedopen-circuit-armature-windings-energizing first and second brushesgroups brushes positions; since all the brush positions may beun-energized at some torque level in forward or reverse, this means thatdiodes are so connected to all the brush positions. This electromagneticenergy recovery occurs, as described above for a two-pole multiplewindings electrical motor, when a commutator segment or bar leaves afirst or second brushes group brush while the commutator segment is yetremoved from the brush vacancies. These segments are designated 177through 196 in FIG. 6. The negative-connected end of the split-seriesstator windings use in a two or more repeatable section multiplewindings electrical motor is sometimes in the same repeatable section asthe positive-connected end and sometimes in an adjacent repeatablesection; see the referenced application for a detailed description. Arepeatable section is a one pole-pair machine; in FIG. 1, FIG. 3, FIG.4, FIG. 6, FIG. 7, and FIG. 18, the double-dashed lines mark repeatablesection boundaries; repeatable sections are joined at the statorstructural support, stator magnetic yoke, mechanical energy coupling,magnetic armature, commutator, brush holder, and at the electricalterminals or electrical energy coupling means. To achieveelectromagnetic energy recovery from the un-energizedopen-circuit-armature-winding-energizing first and second brushes groupsbrushes positions requires that a normally reverse-biased diode beconnected, as described above for FIG. 1, from each brush to eachunidirectional voltage source 51 terminal. These diodes are not shown inFIG. 6 to simplify and clarify the drawing; however, the diode-brushconnection points are indicated as unterminated wires along thebrush-to-winding connections.

In a three-pole-switch controller, the FIG. 6 torque-varying switches101 through 124 are operated in groups of three by switch actuators,similar to those shown in FIG. 2 and FIG. 5, in eight steps to produceeight torque levels. Thus, the FIG. 6 multiple windings electrical motortorque can be varied in increments of about one eighth of the maximumtorque by energizing or de-energizing the torque generating winding setsof this motor one at a time in an eight-step sequence. FIG. 6 alsoshows: stator magnetic yoke 217, structural support 229, key 230, brushsprings one designated 226, spring-loaded brushes 157 through 172, brushholder 222, magnetic armature 225 with teeth one of which is 224,commutator 223 with conducting segments 177 through 196, mechanicalenergy coupling 227, key 228, and brush vacancies 173 through 176. Thebrush holder 222 is mechanically attached to the structural support 229,and the commutator 223 is mechanically attached to the mechanical energycoupling 227.

In FIG. 6, the first step of the eight-step sequence is to energize thestator windings 125-126, 127-128, and 149-150 by closing electricalswitches 101, 102, and 103. The stator winding 125-126 connects to firstbrushes group brush 157, and the stator windings 127-128 and 149-150connect to second brushes group brushes 161 and 169 respectively; thesebrushes 157 with 161 or 157 with 169 connect through various segments ofthe commutator 223 at various armature positions to energize opencircuit armature windings once removed from the brush vacancies 175 and174 or 175 and 176 contrary to the direction of torque generation. Inthe FIG. 1, the torque generating set positions can be defined inrelation to only two brush vacancies; however, in the more generalmultiple windings electrical motor of this FIG. 6, the torque generatingset positions are defined in relation to three brush vacancies or twosets of brush vacancies; one brush vacancy is a central one and theother two are adjacent to the central one.

In FIG. 6, the second step of this eight-step sequence is to continuethe first step and additionally energize the stator windings 141-142,149-150, and 127-128 by closing electrical switches 104, 105, and 106.The stator winding 141-142 connects to first brushes group brush 165 andthe stator windings 149-150 and 127-128 connect to second brushes groupbrushes 169 and 161 respectively; these brushes 165 with 169 or 165 with161 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings onceremoved from the brush vacancies 173 and 176 or 173 and 174 contrary tothe direction of torque generation.

In FIG. 6, the third step of this sequence is to continue the secondstep and additionally energize the stator windings 129-130, 131-132, and151-152 by closing electrical switches 107, 108, and 109. The statorwinding 129-130 connects to first brushes group brush 158 and the statorwindings 131-132 and 151-152 connects to second brushes group brushes162 and 170 respectively; these brushes 158 with 162 or 158 with 170connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings twiceremoved from the brush vacancies 175 and 174 or 175 and 176 contrary tothe direction of torque generation.

In FIG. 6, the fourth step of this sequence is to continue the thirdstep and additionally energize the stator windings 143-144, 151-152, and131-132 by closing electrical switches 110, 112, and 111. The statorwinding 143-144 connects to first brushes group brush 166, and thestator windings 151-152 and 131-132 connect to second brushes groupbrushes 170 and 162 respectively; these brushes 166 with 170 or 166 with162 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings twiceremoved from the brush vacancies 173 and 176 or 173 and 174 contrary tothe direction of torque generation.

In FIG. 6, the fifth step of this sequence is to continue the fourthstep and additionally energize the stator windings 133-134, 135-136, and153-154 by closing electrical switches 113, 114, and 115. The statorwinding 133-134 connects to first brushes group brush 159, and thestator windings 135-136 and 153-154 connect to second brushes groupbrushes 163 and 171 respectively; these brushes 159 with 163 or 159 with171 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings thriceremoved from the brush vacancies 175 and 174 or 175 and 176 contrary tothe direction of torque generation.

In FIG. 6, the sixth step of this sequence is to continue the fifth stepand additionally energize the stator windings 145-146, 153-154, and135-136 by closing electrical switches 116, 117, and 118. The statorwinding 145-146 connects to first brushes group brush 167, and thestator windings 153-154 and 135-136 connect to second brushes groupbrushes 171 and 163 respectively; these brushes 167 with 171 or 167 with163 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings thriceremoved from the brush vacancies 173 and 176 or 173 and 174 contrary tothe direction of torque generation.

In FIG. 6, the seventh step of this sequence is to continue the sixthstep and additionally energize the stator windings 137-138, 139-140, and155-156 by closing electrical switches 119, 120, and 121. The statorwinding 137-138 connects to first brushes group brush 160, and thestator windings 139-140 and 155-156 connect to second brushes groupbrushes 164 and 172 respectively; these brushes 160 with 164 or 160 with172 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings fourthremoved from the brush vacancies 175 and 174 or 175 and 176 contrary tothe direction of torque generation.

In FIG. 6, the eighth step of this sequence is to continue the seventhstep and additionally energize the stator windings 147-148, 155-156, and139-140 by closing electrical switches 122, 123, and 124. The statorwinding 147-148 connects to first brushes group brush 168, and thestator windings 155-156 and 139-140 connect to second brushes groupbrushes 172 and 164 respectively; these brushes 168 with 172 or 168 with164 connect through various segments of the commutator 223 at variousarmature positions to energize open circuit armature windings fourthremoved from the brush vacancies 173 and 176 or 173 and 174 contrary tothe direction of torque generation. This completes the eight-stepenergizing sequence for the three-pole-switch controller to cause theFIG. 6 multiple windings electrical motor to reach its maximum torquegenerating level.

The de-energizing sequence for the three-pole-switch controller to reachthe zero torque level from the maximum torque level in the FIG. 6 motoris the reverse of the energizing sequence described above. Theeight-step de-energizing sequence by step condition proceeds: eight,seven, six, five, four, three, two, one, and zero. Throughout all theabove energizing and de-energizing steps, the multiple windingselectrical motor configuration is retained at each energized step.

The control of reverse torque in the general multiple windingselectrical motor as represented by the FIG. 6 configured motor is donesimilarly to that control of reverse torque described for the FIG. 1motor with the brush holder 82 shifted as in FIG. 4. The brush holder222 is shifted by one, or an odd number of, stator pole pitches, and theelectrical switches are operated in an inverted sequence to energize tomaximum reverse torque generation. In the eight-step sequence of thethree-pole-switch controller, the reverse-energizing sequence is asfollows: step one: switches 124, 123, and 122; step two: switches 121,120, and 119; step three: switches 118, 117, and 116; step four:switches 115, 114, and 113; step five: switches 112, 111, and 110; stepsix: switches 109, 108, and 107; step seven: switches 106, 105, and 104;step eight: switches 103, 102, and 101. To decrease to zero torque fromthe maximum reverse torque generation, just back-down the aboveeight-step sequence.

Again notice that the torque in either reverse or forward generatingsequences may be increased or decreased from any intermediate torquelevel.

COOPERATIVE MOTOR CONTROLLERS

The FIG. 16 represents a general motor torque controller whichcooperatively controls motor torque using two or more control means.

The control of a single-repeatable-section multiple windings electricalmotor using brush holder positioning and other assorted control elementswill be described by referring to the single-repeatable-section motorand controller of FIG. 7 and the control elements shown in FIG. 10, FIG.11, FIG. 12, FIG. 13, FIG. 14, and FIG. 15. The multiple windingselectrical motor of FIG. 7 has permanent-magnet energized, statormagnetic poles 241 and 242, and three open circuit armature windings:264-267, 265-268, and 266-269. The FIG. 7 also shows: stator magneticyoke 276, structural support 277, key 278, brush spring 251,spring-loaded groups brushes 245 and 246, brush holder 271, magneticarmature 272 with teeth one of which is 273, commutator 261 withconducting segments 255 through 260, mechanical energy coupling 274, key275, brush vacancy brushes 247 through 250, and brush holder positioningarm 270. The control element of FIG. 7 is the brush holder positioningarm 270, by which the brush holder 271 is moved to the right or to theleft, thereby varying the orientation between armature electromagneticpoles and the stator magnetic poles, to control the magnitude anddirection of torque generated by the FIG. 7 motor.

The controller of FIG. 7 may be expanded to include current control forthe armature windings by connecting electrical switches, such as theswitch poles 288 and 289 of FIG. 14, to the FIG. 7 terminals 235 and236. This current control would become significant if the motor of FIG.7 is configured into a multiple-repeatable-section motor; then,multiples of the FIG. 14 two-pole switches plus additions of the FIG. 15single-pole switches 291 added as taught in connection with the FIG. 6controller would provide multiple control levels. Also, the varioustypes of energy recovery and disposal taught earlier for brush vacanciesmay be practiced by connecting selected ones of the elements shown inFIG. 10, FIG. 11, FIG. 12, and FIG. 13 to terminals 237 through 240.

One cooperative controller for a multiple windings electrical motorcombines the control of current control switches and the brush holderposition to maintain a near-optimum motor torque generation at alllevels of torque. The resultant position of electromagnetic poles on thearmature will change with respect to the armature as various numbers ofarmature windings are energized. The orientation of armatureelectromagnetic poles with respect to the stator magnetic poles can beadjusted by positioning the brush holder; so, positioning the brushholder can also adjust the armature poles to be near-optimum for eachnumber of armature windings energized. The FIG. 17 shows a cooperativecontroller in which electric motor control is achieved by moving thehandle 301, pivoted around pin 323, to the right to increase torque, andallowing the handle 301 to be returned to the left by spring 321 todecrease torque. The handle 301 is coupled to brush holder positioningcam 302 through linkage 303, and also coupled to current control means304 through linkage 305. The current control means 304 includes switchesand a switch actuating cam 306 for the FIG. 6 switches 101 through 124,not shown in FIG. 17 for simplicity, and the current control means 304is constructed following the teaching of FIG. 2. The cam 302 is coupledto the brush holder 222 of FIG. 6 through a cam surfaces 311, a roller312 mounted on bar 313, and linkage 314. The bar 313 is guided by a pathin member 310. The cooperative control is achieved by adjusting theposition of handle 301 against spring 321 and away from stop 322, as thehandle 301 pivots around pin 323 on support 320. The movement of thehandle 301 causes movement of the cam 302 and the cam 306 of differentamounts according to the differing leverages due to the differentattachment points of linkages 303 and 305 on handle 301. In this manner,a given handle 301 position provides closure of a number of the currentcontrol switches 101 to 124 following the earlier teaching and alsoprovides a brush holder 222 position. The support 315 and particularlythe cam 302 are closely coupled to the structural support 229 of FIG. 6for controlling the position of brush holder 222.

The controller shown in FIG. 18 provides single-step current control ona single-repeatable-section, series-configured, multiple windingselectrical motor by switches 379 and 380, which are in series with eachportion of a split stator winding 360-361 and 362-363. This controllermay be energized either from an AC of DC source, such as shown in FIG. 8or FIG. 9, respectively. This controller provides control of theorientation of the armature electromagnetic poles with respect to thestator magnetic poles 366 and 367 by controlling the position of brushholder 340 using positioning lever 392. The armature electromagneticpoles are established by current flow through connected open circuitarmature windings.

In FIG. 18, energy recovery and disposal from the group brushes 346 and347 is provided by closing the switches 383 and 384 to connect two halfbridge circuits composed of diodes 385 through 388. The elements to beconnected at electrical energy coupling terminals 390 and 391 may be oneof the following: a DC electrical energy source or storage device withthe negative to terminal 390 and the positive to terminal 391, or anelectrical energy dissipating device or devices such as a resistor, avaristor, a zener diode, or back-to-back zener diodes.

Dynamic braking can be achieved by switching to control energy disposalor energy recovery from un-energized armature windings. In thecontroller of FIG. 18, dynamic braking control is provided when thecurrent control switches 379 and 380 are open by operating the switches383 and 384. These switch combinations are equivalent to controlling thecommutator contact of the group brushes by lifting these brushes withinthe brush holder.

In FIG. 18, energy recovery and disposal from brush vacancy brushes 356through 359 is shown by the connection to four half bridge circuitscomposed of diodes 369 through 376, which deliver polarized, recoveredelectrical energy to electrical energy coupling terminals 377 and 378,positive to terminal 378 and negative to terminal 377.

I claim as my invention:
 1. A controller for an electric motor, themotor having at least one repeatable section, wherein a repeatablesection includes a group of poles and windings, and comprising:a statorand an armature facing each other across an air gap and mounted forrelative movement in at least one preselected direction; the statorhaving, for each repeatable section, two stator magnetic poles arrangedfacing the air gap and side-by-side in the direction of relativemovement; magnetomotive force means energizing the stator magnetic poleswith adjacent stator magnetic poles being of opposite polarity; thearmature having an armature magnetic structure and, for each repeatablesection, multiple open circuit windings displaced from each other in thedirection of relative movement and inductively linking said structure;means for establishing electrical connections to form none to at leastone of the armature windings, comprising: a commutator, a plurality ofbrushes, electrical switches means, and a brush holder means; thecommutator being located on the armature and comprising a plurality ofsegments spaced in the direction of relative movement and arranged insegment pairs, with the segments of a pair one stator magnetic polepitch apart and with the segments of a pair electrically connectedthrough an armature winding; the plurality of brushes to engage thecommutator, arranged in one first group of brushes and one second groupof brushes per repeatable section, said brushes being placed within eachgroup of brushes in the direction of relative movement, the first groupof brushes containing at least one brush, the second group of brushescontaining at least one brush, said groups of brushes being placedalternately first and second in the direction of relative movement andthe groups of brushes being separated by brush vacancies means, eachbrush of a group of brushes for contacting a portion of said commutatorwherein said portion includes at least one commutator segment as thearmature moves relative to the stator, each commutator segment movingwith the armature under brushes of a group of brushes for contacting atleast one brush of said group of brushes, and wherein, as the armaturemoves relative to the stator, commutator segments which are leaving onebrush group and moving toward an adjacent brush group come out ofcontact with said group brushes at brush vacancies means wherebyrespective ones of the open circuit armature windings becomeelectrically isolated from said group brushes; the electrical switchesmeans control the establishment of electrical connections to from noneto at least one of the armature windings; means for causing currents toflow in the electrical connections means and the connected armaturewindings to establish armature electromagnetic poles of various numbersto the strength levels available and having no more than two armatureelectromagnetic poles per repeatable section and with adjacent poles ofopposite polarity; the brush holder means holds the plurality of brushesand relatively orients the armature electromagnetic poles of preselectednumbers and strength levels with respect to the stator magnetic poles,and said orientation being maintained as the relative movement occurs bythe electrical connections means shifting the armature electromagneticpoles on said structure by connecting to at least one unenergizedarmature winding and by interrupting connection to at least onepreviously energized armature winding; and control means for theelectrical switches means to vary the number of armature windingsenergized, and thereby, to control the force and torque generated by themotor.
 2. A controller according to claim 11 which further includeselectrical energy coupling means for receiving electrical energy for thecontroller and for delivering electrical energy from the controller, andthe portion of the electrical energy coupling means for receivingelectrical energy for the controller is part of the currents flow means.3. A controller according to claim 2 including further means forrecovery and disposal of electrical energy from windings havinginterrupted connections means, and the portion of the electrical energycoupling means for delivering electrical energy from the controller ispart of the electrical energy recovery and disposal means.
 4. Acontroller according to claim 1 wherein the control means includes meansto operate the electrical switches means in stepped sequences togenerate causes for relative movement within the motor capability.
 5. Acontroller according to claim 4 wherein said means for operating theelectrical switches means in stepped sequences comprise means forenergizing by repeatable sections the brushes in the first and secondgroups of brushes in positions once removed contrary to the direction ofmotor-caused relative movement from central and adjacent brush vacanciesmeans.
 6. A controller according to claim 5 further including means forenergizing by repeatable sections the brushes in positions twice removedin said direction from central and adjacent brush vacancies means;andmeans for energizing by repeatable sections additional as availablefirst and second group brushes in positions farther removed in saiddirection from the central and adjacent brush vacancies means.
 7. Acontroller according to claim 3 wherein the electrical energy couplingmeans portions are combined to be two terminals of which one terminal ispositive polarity and the second terminal is negative polarity; andthecurrents flow is modulated under relative movement by group brushesmaking and breaking straddling contacts between adjacent commutatorsegments and wherein said currents flow in unenergized armature windingsis interrupted as the commutator segments move to interrupt saidstraddling contacts and produce thereby induced voltage between the twocommutator segments of segment pairs coupled to said unenergized,interrupted armature windings.
 8. A controller according to claim 7wherein the electrical energy recovery and disposal means includes aplurality of half bridge circuits and each half bridge circuit isconnected between a group brush and the electrical terminals; andsaidhalf bridge circuit comprises at least one diode and is arranged to beback-biased until the armature winding coupled to said commutatorsegment is interrupted and produces thereby self-induced voltage whichforward-biases at least one diode of said half bridge circuit and of thehalf bridge circuit coupled to the adjacent alternate group brushcontacting the corresponding commutator segment coupled to the oppositeend of said interrupted armature winding; and thereby electromagneticenergy contained in the interrupted armature windings is recovered aselectrical energy and delivered with respective polarity to theelectrical terminals.
 9. A controller according to claim 3 wherein theelectrical energy coupling means for receiving electrical energy for thecontroller comprises two terminals of which one terminal is positivepolarity and the second terminal is negative polarity; andthe electricalenergy coupling means for delivering electrical energy from thecontroller delivers electrical energy to the two terminals through adynamic braking controller which includes a second portion electricalswitches means and means to control said second portion switches insequences to proceed stepwise to generate dynamic braking.
 10. Acontroller according to claim 9 wherein the electrical energy recoveryand disposal means includes a plurality of half bridge circuits and eachhalf bridge circuit is connected between a group brush and theelectrical terminals through a pole of at least one second portionelectrical switch; andsaid half bridge circuit comprises at least onediode and is arranged to be back-biased until the armature windingcoupled to said commutator segment is interrupted and produces therebyself-induced voltage and said voltage is coupled through at least onepole of a second portion electrical switch to forward-bias at least onediode of said half bridge circuit and of the half bridge circuit coupledto the adjacent alternate group brush contacting the correspondingcommutator segment coupled to the opposite end of said interruptedarmature winding.
 11. A controller according to claim 2 wherein thecurrents-flow-portion electrical energy coupling means comprises twoterminals and the electrical switches means comprise a plurality ofelectrical switches which are operable in stepped sequences within thecapability of the motor for causing relative movement, wherein anindividual electrical switch to control the current flow for one stepfor causing relative movement in one-repeatable-section motors comprisetwo switch poles connected as follows:an electrical connection between abrush of the first group of brushes and the first terminal of saidcurrents-flow-portion electrical energy coupling means is made throughone switch pole; and an electrical connection between a brush of thesecond group of brushes, one stator pole pitch removed from said firstbrushes group brush, and the second terminal of saidcurrents-flow-portion electrical energy coupling means is made through asecond pole of said switch.
 12. A controller according to claim 11 inwhich the electrical switches means for multiple-repeatable-sectionmotors includes a third switch pole on each individual electrical switchwhich is connected for one step for causing relative movement asfollows:an electrical connection between a brush in the second group ofbrushes in an adjacent repeatable section, one stator magnetic polepitch removed from the brush in the first group of brushes, and thesecond terminal of said currents-flow-portion electrical energy couplingmeans is made through the third pole of said switch in parallel with asecond pole of another switch.
 13. A controller according to claim 12except the third switch poles are capable of operation independent ofthe respective two switch poles and thereby the third switch polesprovide intermediate control levels for causing relative movement.
 14. Acontroller for an electric motor, the motor having at least onerepeatable section, wherein a repeatable section includes a group ofpoles and windings, and comprising:a stator and an armature facing eachother across an air gap and mounted for relative movement in at leastone preselected direction; the stator having, for each repeatablesection, two stator magnetic poles facing the air gap and arrangedside-by-side in the direction of relative movement and with at least onestator winding means inductively linking the stator magnetic poles; thearmature having an armature magnetic structure and, for each repeatablesection, multiple open circuit windings displaced from each other in thedirection of relative movement and inductively linking said structure;means for establishing electrical connections to from none to at leastone of the stator winding means and from none to at least one of thearmature windings comprising;a commutator carried by the armature andhaving a plurality of segments spaced in the direction of relativemovement and arranged in pairs, with the segments of a pair one statormagnetic pole pitch apart and with the segments of a pair electricallyconnected through an armature winding; a plurality of brushes arrangedin one first group of brushes and one second group of brushes per statormagnetic pole pair to engage the commutator such that at least one pairof brushes, composed of one brush from each group of brushes per statormagnetic pole pair, contact corresponding pairs of commutator segmentsas said relative movement occurs, and each pair of commutator segmentstemporarily comes out of contact with said brushes at brush vacanciesmeans as said segment pair passes between brush groups; and a brushholder means to support the arrangement of the plurality of brushes; andthe means for establishing electrical connections further includeselectrical switches means connected to control the flow of currents tostator windings means and to armature windings whose respectivecommutator segment pairs are contacted by a brush of the first group ofbrushes on one segment and contacted by a brush of the second group ofbrushes on the corresponding segment; means causing currents to flow inthe electrical connections means and the connected stator winding meansand armature windings to energize various numbers of stator magneticpoles to the strength levels available and to establish armatureelectromagnetic poles of various numbers to the strength levelsavailable, with respective adjacent poles having opposite polarity, andwith no more than two armature electromagnetic poles per repeatablesection; means establishing a relative orientation between a preselectedcombination of energized stator magnetic poles and armatureelectromagnetic poles; electrical energy coupling means for receivingelectrical energy for the controller and for delivering electricalenergy from the controller, and the portion of the electrical energycoupling means for receiving electrical energy for the controller ispart of the current flow means; means for recovery and disposal ofelectrical energy from windings having interrupted connections means,and the portion of the electrical energy coupling means for deliveringelectrical energy from the controller is part of the electrical energyrecovery and disposal means; the electrical connections means beingfurther constructed and arranged to substantially maintain saidorientation by shifting the armature electromagnetic poles on saidstructure as said relative movement occurs by connecting to at least oneunenergized armature winding and interrupting connections to at leastone previously energized armature winding; and means to control theelectrical connections means to control the magnitude of themotor-generated cause for relative movement, which includes means toconnect stator winding means and armature windings in sequences toproceed stepwise to generate causes for relative movement within themotor capability.
 15. A controller according to claim 14 wherein theelectrical energy coupling means portions are combined to be twoterminals of which one terminal is positive polarity and the secondterminal is negative polarity; andthe currents flow is modulated underthe relative movement by group brushes making and breaking straddlingcontacts between adjacent commutator segments and wherein said currentsflow in unenergized armature windings is interrupted as the commutatorsegments move to interrupt said straddling contacts and produce therebyinduced voltage between the commutator segments of segment pairs coupledto said unenergized, interrupted armature windings.
 16. A controlleraccording to claim 15 wherein the electrical energy recovery anddisposal means includes a plurality of half bridge circuits and eachhalf bridge circuit is connected between a group brush and theelectrical terminals;said half bridge circuit comprises at least onediode and is arranged to be back-biased until the armature windingcoupled between said commutator segment pair is interrupted and producesthereby self-induced voltage which forward-biases at least one diode ofsaid half bridge circuit and of the half bridge circuit coupled to thegroup brush contacting the corresponding commutator segment coupled tothe opposite end of said interrupted armature winding; and thereby,electromagnetic energy contained in the interrupted armature windings isrecovered as electrical energy and delivered with respective polarity tothe electrical terminals.
 17. A controller according to claim 14 whereinthe currents-flow-portion electrical energy coupling means comprises twoterminals and the electrical switches means comprise at least oneelectrical switch and when the electrical switches means comprise aplurality of electrical switches such are operable in stepped sequenceswithin the capability of the motor for causing relative movement,wherein an individual electrical switch to control the currents flow forone step for causing relative movement in one-repeatable-section motorscomprise two switch poles connected as follows:an electrical connectionbetween a brush of the first group of brushes and the first terminal ofsaid currents-flow-portion electrical energy coupling means is madethrough one switch pole; and an electrical connection between a brush ofthe second group of brushes, one stator magnetic pole pitch removed fromsaid first brushes group brush, and the second terminal of saidcurrents-flow-portion electrical energy coupling means is made through asecond switch pole.
 18. A controller according to claim 17 in which theelectrical switches means for multiple-repeatable-section motors tocontrol the currents flow for one step for causing relative movementincludes a third switch pole on each individual electrical switch; andanelectrical connection between a brush in the second group of brushes inan adjacent repeatable section, one stator magnetic pole pitch removedfrom the brush in the first group of brushes, and the second terminal ofsaid currents-flow-portion electrical energy coupling means is madethrough the third switch pole in parallel with one of said second switchpoles.
 19. A controller according to claim 18 except the third switchpoles are capable of operation independent of the respective two switchpoles and thereby the third switch poles provide intermediate controllevels for causing relative movement.
 20. A controller according toclaim 18 wherein the electrical energy coupling means portions arecombined to be two terminals of which one terminal is positive polarityand the second terminal is negative polarity; and wherein,the electricalenergy recovery and disposal means includes a plurality of half bridgecircuits of which each half bridge circuit is connected between anelectrical switch pole load-side and the electrical terminals; and saidhalf bridge circuit comprises at least one diode and is arranged to beback-biased until the winding connected to said electrical switch poleload-side is interrupted and produces thereby self-induced voltage whichforward-biases at least one diode of said half bridge circuit and of ahalf bridge circuit coupled to the opposite end of said interruptedwinding; and thereby, electromagnetic energy contained in theinterrupted windings is recovered as electrical energy and deliveredwith respective polarity to the electrical terminals.
 21. A controlleraccording to claim 17 wherein the sequences means for establishingarmature electromagnetic poles and stator magnetic poles of the lowest,also called first step, strength by repeatable section comprise meansfor individually energizing brushes in the first and second groups ofbrushes in positions once removed from central and adjacent brushvacancies means and contrary to the direction of motor-caused relativemovement.
 22. A controller according to claim 21 wherein the sequencesmeans for establishing armature electromagnetic poles and statormagnetic poles of the second-level, also called second-step, strength byrepeatable section further comprise means for energizing the brushes inthe first and second groups of brushes in positions twice removed insaid direction from central and adjacent brush vacancies means; andthesequences means for establishing by repeatable section additional asavailable level strengths, also called step strengths, of armatureelectromagnetic poles and stator magnetic poles for causing relativemovement, comprise means for energizing additional as available firstand second group brushes in positions farther removed in said directionfrom the central and adjacent brush vacancies means.
 23. A controlleraccording to claim 17 wherein the electrical energy coupling meansportions are combined to be two terminals of which one terminal ispositive polarity and the second terminal is negative polarity; andwherein,the electrical energy recovery and disposal means includes aplurality of half bridge circuits and each half bridge circuit isconnected between an electrical switch pole load-side and the electricalterminals; and said half bridge circuit comprises at least one diode andis arranged to be back-biased until the winding connected to saidelectrical switch pole load-side is interrupted and produces therebyself-induced voltage which forward-biases at least one diode of saidhalf bridge circuit and of a half bridge circuit coupled to the oppositeend of said interrupted winding; and thereby, electromagnetic energycontained in the interrupted windings is recovered as electrical energyand delivered with respective polarity to the electrical terminals. 24.A controller for an electric motor, the motor having at least onerepeatable section, wherein a repeatable section includes a group ofpoles and windings, and comprising;a stator and an armature facing eachother across an air gap and mounted for relative movement in at leastone preselected direction; the stator having, for each repeatablesection, two stator magnetic poles arranged facing the air gap andside-by-side in the direction of relative movement; magnetomotive forcemeans energizing the stator magnetic poles with adjacent stator magneticpoles being of opposite polarity; the armature having an armaturemagnetic structure and, for each repeatable section, multiple opencircuit windings displaced from each other in the direction of relativemovement and inductively linking said structure; means for establishingelectrical connections to from none to at least one of the armaturewindings, comprising: a commutator, a plurality of brushes, electricalswitches means, and brush holder means; the commutator being located onthe armature and comprising a plurality of segments spaced in thedirection of relative movement and arranged in segment pairs, with thesegments of a pair one stator magnetic pole pitch apart and with thesegments of a pair electrically connected through an armature winding;the plurality of brushes to engage the commutator, arranged in one firstgroup of brushes and one second group of brushes per repeatable section,said brushes being placed within each group of brushes in the directionof relative movement, the first group of brushes containing at least onebrush, the second group of brushes containing at least one brush, saidgroups of brushes being placed alternately first and second in thedirection of relative movement and the groups of brushes being separatedby brush vacancies means, each brush of a group of brushes forcontacting a portion of the commutator and said portion includes atleast one commutator segment as the armature moves relative to thestator, each commutator segment moving with the armature under brushesof a group of brushes for contacting at least one brush of said group ofbrushes; the electrical switches means controls the establishment ofelectrical connections to from none to at least one of the armaturewindings; means causing currents to flow in the electrical connectionsmeans and the connected armature windings to establish armatureelectromagnetic poles of various numbers to the strength levelsavailable and having no more than two armature electromagnetic poles perrepeatable section and with adjacent poles of opposite polarity; thebrush holder means holds the plurality of brushes and substantiallyorients the armature electromagnetic poles with respect to the statormagnetic poles in the direction of relative movement; the electricalconnections means being constructed and arranged to maintain saidorientation by shifting the armature electromagnetic poles on saidstructure as said relative movement occurs by connecting to at least oneunenergized armature winding and by interrupting connection to at leastone previously energized armature winding; means for positioning thebrush holder means to vary the orientation of the armatureelectromagnetic poles with respect to the stator magnetic poles in thedirection of relative movement by as much as one stator magnetic polepitch; and means to cooperatively control the electrical switches meansand the brush holder positioning means to thereby control the magnitudeand direction of the motor-generated cause for relative movement.
 25. Acontroller according to claim 24 wherein the cooperative control meansincludes means to control the electrical switches means and the brushholder positioning means in sequences to thereby control the magnitudeand direction of the motor-generated cause for relative movement.
 26. Acontroller according to claim 25 wherein the means to operate theelectrical switches means in sequences comprise means for individuallyenergizing by repeatable sections the brushes in the first and secondgroups of brushes in positions once removed contrary to the direction ofmotor-caused relative movement from central and adjacent brush vacanciesmeans.
 27. A controller according to claim 26 further including meansfor additionally energizing by repeatable sections the brushes in thefirst and second groups of brushes in positions twice removed in saiddirection from central and adjacent brush vacancies means; andmeans forenergizing by repeatable sections additional as available first andsecond group brushes in positions farther removed in said direction fromthe central and adjacent brush vacancies means.
 28. A controlleraccording to claim 25 wherein the means to operate the electricalswitches means in sequences comprise means for energizing, by repeatablesections in approximate dynamic balanced relationships, the brushes inthe first and second groups of brushes in positions once removedcontrary to the direction of motor-caused relative movement from centraland adjacent brush vacancies means.
 29. A controller according to claim28 further including means for additionally energizing, by repeatablesections in approximate dynamic balanced relationships, the brushes inthe first and second groups of brushes in positions twice removed insaid direction from central and adjacent brush vacancies means; andmeansfor energizing by repeatable sections in approximate dynamic balancedrelationships, additional as available first and second group brushes inpositions farther removed in said direction from the central andadjacent brush vacancies means.
 30. A controller according to claim 24further including electrical energy coupling means for receivingelectrical energy for the controller and for delivering electricalenergy from the controller, and the portion of the electrical energycoupling means for receiving electrical energy for the controller ispart of the currents flow means.
 31. A controller according to claim 30further including means for recovery and disposal of electrical energyfrom windings having interrupted connections means, and the portion ofthe electrical energy coupling means for delivering electrical energyfrom the controller is part of the electrical energy recovery anddisposal means.
 32. A controller according to claim 24 wherein theelectrical connections means are further constructed and arranged toprovide at least one disconnected armature winding.
 33. A controlleraccording to claim 32 wherein the electrical connections meansestablishes electrical connections to from none to at least two of thearmature windings, less at least one winding per repeatable section. 34.A controller according to claim 31 wherein the electrical energycoupling means portions are combined to be two terminals of which oneterminal is positive polarity and the second terminal is negativepolarity; andthe currents flow is modulated under relative movement bygroup brushes making and breaking straddling contacts between adjacentcommutator segments and wherein said currents flow in unenergizedarmature windings is interrupted as the commutator segments move tointerrupt said straddling contacts and produce thereby self-inducedvoltage between the commutator segments of segment pairs coupled to saidunenergized, interrupted armature windings.
 35. A controller accordingto claim 34 further including an electrical energy recovery and disposalmeans coupled between the group brushes and the electrical terminals.36. A controller according to claim 35 wherein the electrical energyrecovery and disposal means comprises a plurality of half bridgecircuits and each half bridge circuit is connected between a group brushand the electrical terminals; andsaid half bridge circuit comprises atleast one diode and is arranged to be back-biased until the armaturewinding coupled to said commutator segment is interrupted and producesthereby self-induced voltage which forward-biases at least one diode ofsaid half bridge circuit and of the half bridge circuit coupled to thegroup brush contacting the corresponding commutator segment coupled tothe opposite end of said interrupted armature windings; and thereby,electromagnetic energy contained in the interrupted armature windings isrecovered as electrical energy and delivered with respective polarity tothe electrical terminals.
 37. A controller according to claim 36 furtherincluding a dynamic braking controller comprising second portionelectrical switches means for providing dynamic braking of the motor,wherein the electrical connections between group brushes and the halfbridge circuits are made through second portion electrical switchesmeans.
 38. A controller according to claim 31 wherein thecurrents-flow-portion electrical energy coupling means comprises twoterminals and the electrical switches means comprise at least oneelectrical switch and when the electrical switches means comprise aplurality of electrical switches such are operable in stepped sequenceswithin the capability of the motor for causing relative movement,wherein an individual electrical switch to control the current flow forone step for causing relative movement in one-repeatable-section motorscomprise two switch poles connected as follows:an electrical connectionbetween a brush of the first group of brushes and the first terminal ofsaid currents-flow-portion electrical energy coupling means is madethrough one switch pole; and an electrical connection between a brush ofthe second group of brushes, one stator magnetic pole pitch removed fromsaid first brushes group brush, and the second terminal of saidcurrents-flow-portion electrical energy coupling means is made through asecond pole of said switch.
 39. A controller according to claim 38wherein the brush holder means is positioned at least one step of saidsequences to thereby produce cause for relative movement within themotor capability.
 40. A controller according to claim 38 in which theelectrical switches means for multiple-repeatable-section motors and onestep for causing relative movement includes a third switch pole on eachindividual electrical switch; andan electrical connection between abrush in the second group of brushes in an adjacent repeatable section,one stator magnetic pole pitch removed from the brush in the first groupof brushes, and the second terminal of said currents-flow-portionelectrical energy coupling means is made through the third pole of saidswitch in parallel with a second pole of another switch.
 41. Acontroller according to claim 40 except the third switch poles arecapable of operation independent of the respective two switch poles andthereby the third switch poles provide intermediate control levels forcausing relative movement.
 42. A controller according to claim 40wherein the brush holder means is positioned at least one step of saidsequences to thereby produce cause for relative movement within themotor capability.
 43. A multiple windings electrical machine having atleast one repeatable section, wherein a repeatable section includes agroup of poles and windings, and comprising:a stator and an armaturefacing each other across an air gap and mounted for relative movement inat least one preselected direction; the stator having, for eachrepeatable section, two stator magnetic poles arranged facing the airgap and side-by-side in the direction of relative movement;magnetomotive force means energizing the stator magnetic poles withadjacent stator magnetic poles being of opposite polarity; the armaturehaving an armature magnetic structure and, for each repeatable section,multiple open circuit windings displaced from each other in thedirection of relative movement and inductively linking said structure;means establishing electrical connections to at least one of saidarmature windings comprising:a commutator carried by the armature andhaving a plurality of segments spaced in the direction of relativemovement and arranged in pairs, with the segments of a pair being onestator magnetic pole pitch apart and the segments of a pair beingelectrically connected through an armature winding; a plurality ofbrushes to engage the commutator, arranged in one first group of brushesand one second group of brushes per repeatable section, such that atleast one pair of brushes, composed of one brush from each group,contact corresponding pairs of commutator segments as said relativemovement occurs, and each pair of commutator segments temporarily comeout of contact with said brushes as said segment pair passes betweenbrush groups for commutation; and a brush holder means to support thearrangement of said plurality of brushes; means causing currents flow inthe electrical connections means and the connected armature windings toestablish armature electromagnetic poles having the same pitch as thestator magnetic poles, and with adjacent armature electromagnetic poleshaving opposite polarity; electrical energy coupling means for receivingelectrical energy for the machine and for delivering electrical energyfrom the machine; means establishing a relative orientation between thearmature electromagnetic poles and the stator magnetic poles, whichincludes the brush holder means; the electrical connections means beingconstructed and arranged further to maintain said orientation byshifting the armature electromagnetic poles on said structure as saidmovement occurs by connecting to at least one unenergized armaturewinding and interrupting connection to at least one previously energizedarmature winding; electrical energy recovery and disposal means whichrecovers and disposes of electrical energy converted fromelectromagnetic energy as inductive kick energy when electrical currentsthrough the armature windings are interrupted; and thereby, said machineconverts between mechanical energy and electrical energy.
 44. Themachine of claim 43 wherein the electrical energy coupling meanscomprise two electrical terminals of which one terminal is positivepolarity and the second terminal is negative polarity; and further,thecurrents flow is interrupted under relative movement by group brushesmaking and breaking straddling contacts between adjacent commutatorsegments and wherein said currents flow in the armature windings isinterrupted as the commutator segments move to interrupt said straddlingcontacts and produce thereby self-induced voltage between the twocommutator segments of segment pairs coupled to said interruptedarmature windings.
 45. A machine according to claim 44 wherein theelectrical energy recovery and disposal means includes a plurality ofhalf bridge circuits in which each half bridge circuit is connectedbetween a group brush and the electrical terminals;said half bridgecircuit comprises at least one diode and is arranged to be back-biaseduntil the armature winding coupled to said commutator segment isinterrupted and produces thereby self-induced voltage whichforward-biases at least one diode of said half bridge circuit and of thehalf bridge circuit coupled to the group brush contacting thecorresponding commutator segment coupled to the opposite end of saidinterrupted armature winding; and thereby, electromagnetic energycontained in the interrupted armature windings is recovered aselectrical energy and delivered with respective polarity to theelectrical terminals.
 46. A controller for an electronic motor, themotor having at least one repeatable section, wherein a repeatablesection includes a group of poles and windings, and comprising:a statorand an armature facing each other across an air gap and mounted forrelative movement in at least one preselected direction; the statorhaving, for each repeatable section, two stator magnetic poles and atleast one stator winding means inductively linking the two statormagnetic poles, and the stator magnetic poles being arranged facing theair gap and side-by-side in the direction of relative movement; thearmature having an armature magnetic structure and, for each repeatablesection, multiple open circuit windings displaced from each other in thedirection of relative movement and inductivity linking said structure;means for establishing electrical connections to from none to at leastone of the armature windings; means causing currents to flow in theelectrical connections means and the connected stator windings means andarmature windings to energize various numbers of stator magnetic polesto the strength levels available and to establish armatureelectromagnetic poles various numbers and to the strength levelsavailable, with adjacent energized stator magnetic poles having oppositepolarity, and with no more than two armature electromagnetic poles perrepeatable section; means for varying the orientation of armatureelectromagnetic poles with respect to the stator magnetic poles by asmuch as one stator magnetic pole pitch in the direction of relativemovement; electrical energy coupling means for receiving electricalenergy for the controller and for delivering electrical energy from thecontroller, and the portion of the electrical energy coupling means forreceiving electrical energy for the controller is part of the currentflow means; means for recovery and disposal of electrical energy fromwindings having interrupted connections means, and the portion of theelectrical energy coupling means for delivering electrical energy fromthe controller is part of the electrical energy recovery and disposalmeans; the means for establishing electrical connections and the meansfor varying the orientation comprising:a commutator carried by thearmature and having a plurality of segments spaced in the direction ofrelative movement and arranged in pairs with the segments of a pair onestator magnetic pole pitch apart and electrically connected through anarmature winding; a plurality of brushes arranged in one first group ofbrushes and one second group of brushes per repeatable section to engagethe commutator and said groups of brushes placed alternately first andsecond in the direction of relative movement, such that at least onepair of brushes, composed of one brush from each group of brushes perrepeatable section, contact corresponding pairs of commutator segmentsas said relative movement occurs, and each pair of commutator segmentscomes out of contact with said brushes at brush vacancies means as saidsegment pair passes between brush groups; and a brush holder means tosupport the arrangement of the plurality of brushes; the means forestablishing electrical connections being further constructed andarranged to substantially maintain said orientation as the relativemovement occurs by shifting the armature electromagnetic poles on saidstructure by connecting to at least one unenergized armature winding andinterrupting connection to at least one previously energized armaturewinding; the means for establishing electrical connections furtherincludes electrical switches means connected to control the flow ofcurrents to stator windings means and to armature windings whoserespective commutator segment pairs are contacted by a brush of thefirst group of brushes on one segment and contacted by a brush of thesecond group of brushes on the corresponding segment; and means tocooperatively control the electrical connections means and theorientation means to thereby control the magnitude and direction of thecause for relative movement generated by the motor.
 47. A controlleraccording to claim 46 wherein the electrical energy coupling meansportions are combined to be two terminals of which one terminal ispositive polarity and the second terminal is negative polarity; andthecurrents flow is modulated under the relative movement by group brushesmaking and breaking straddling contacts between adjacent commutatorsegments and wherein said currents flow in unenergized armature windingsis interrupted as the commutator segments move to interrupt saidstraddling contacts and produce thereby induced voltage between the twocommutator segments of segment pairs coupled to said unenergized,interrupted armature windings.
 48. A controller according to claim 47wherein the electrical energy recovery and disposal means includes aplurality of half bridge circuits and each half bridge circuit isconnected between a group brush and the electrical terminals;said halfbridge circuit comprises at least one diode and is arranged to beback-biased until the armature winding coupled between respectivecommutator segments is interrupted and produces thereby self-inducedvoltage which forward-biases at least one diode of said half bridgecircuit and of the half bridge circuit coupled to the opposite end ofsaid interrupted armature winding; and thereby, electromagnetic energycontained in the interrupted armature windings is recovered aselectrical energy and delivered with respective polarity to theelectrical terminals.
 49. A controller according to claim 46 wherein thecurrents-flow-portion electrical energy coupling means comprises twoterminals and the electrical switches means comprise at least oneelectrical switch and when the electrical switches means comprises aplurality of electrical switches such are operable in stepped sequenceswithin the capability of the motor for causing relative movement,wherein an individual electrical switch to control the currents flow forone step for causing relative movement in one-repeatable-section motorscomprise two switch poles connected as follows:an electrical connectionbetween a brush of the first group of brushes and the first terminal ofsaid currents-flow-portion electrical energy coupling means is madethrough one switch pole; and an electrical connection between a brush ofthe second group of brushes, one stator magnetic pole pitch removed fromsaid first brushes group brush, and the second terminal of saidcurrents-flow-portion electrical energy coupling means is made through asecond pole of said switch.
 50. A controller according to claim 49wherein the electrical energy coupling means portions are combined to betwo terminals of which one terminal is positive polarity and the secondterminal is negative polarity; and whereinthe electrical energy recoveryand disposal means includes a plurality of half bridge circuits and eachhalf bridge circuit is connected between an electrical switch load-sideand the electrical terminals; and said half bridge circuit comprises atleast one diode and is arranged to be back-biased until the windingconnected to said electrical switch load-side is interrupted andproduces thereby self-induced voltage which forward-biases at least onediode of said half bridge circuit and of the half bridge circuit coupledto the opposite end of said interrupted winding; and thereby,electromagnetic energy contained in interrupted windings is recovered aselectrical energy and delivered with respective polarity to theelectrical terminals.
 51. A controller according to claim 49 wherein thebrush holder means is positioned in the direction of relative movementat at least one step of said stepped sequences to thereby produce causesfor relative movement within the motor capability.
 52. A controlleraccording to claim 49 in which the electrical switches means formultiple-repeatable-section motors includes at least one third switchpole on at least one electrical switch which is connected for one stepfor causing relative movement as follows:an electrical connectionbetween a brush in the second group of brushes in an adjacent repeatablesection, one stator magnetic pole pitch removed from the brush in thefirst group of brushes, and the second terminal of saidcurrents-flow-portion electrical energy coupling means is made throughthe third switch pole in parallel with a second pole of another switch.53. A controller according to claim 52 wherein the electrical energycoupling means portions are combined to be two terminals of which oneterminal is positive polarity and the second terminal is negativepolarity; and wherein,the electrical energy recovery and disposal meansincludes a plurality of half bridge circuits and each half bridgecircuit is connected between an electrical switch load-side and theelectrical terminals; and said half bridge circuit comprises at leastone diode and is arranged to be back-biased until the winding connectedto said electrical switch load-side is interrupted and produces therebyself-induced voltage which forward-biases at least one diode of saidhalf bridge circuit and of the half bridge circuit coupled to theopposite end of said interrupted winding; and thereby, electromagneticenergy contained in the interrupted windings is recovered as electricalenergy and delivered with respective polarity to the electricalterminals.
 54. A controller according to claim 52 wherein the brushholder means is positioned in the direction of relative movement at atleast one step of said stepped sequences to thereby produce causes forrelative movement within the motor capability.
 55. A controlleraccording to claim 52 in which the third switch poles are operatedindependently of the respective two switch poles and thereby the thirdswitch poles provide intermediate control levels for causing relativemovement.
 56. A controller for an electric motor, the motor havingmultiple repeatable sections, wherein a repeatable section includes agroup of poles and windings, and comprising:a stator and an armaturefacing each other across an air gap and mounted for relative movement inat least one preselected direction; the stator having, for eachrepeatable section, two stator magnetic poles arranged facing the airgap and side-by-side in the direction of relative movement;magnetomotive force means energizing the stator magnetic poles withadjacent stator magnetic poles being of opposite polarity; the armaturehaving an armature magnetic structure and, for each repeatable section,multiple open circuit windings displaced from each other in thedirection of relative movement and inductively linking said structure;means for establishing electrical connections to connect from none to atleast one of the armature windings across an electrical power sourcehaving terminals of two polarities, comprising: a commutator, aplurality of brushes, a plurality of electrical switches, and brushholder means; the commutator being located on the armature andcomprising a plurality of segments spaced in the direction of relativemovement and arranged in segment pairs, with the segments of a pair onestator magnetic pole pitch apart and with the segments of a pairelectrically connected through an armature winding; the plurality ofbrushes to engage the commutator, arranged in one first group of brushesand one second group of brushes per repeatable section, said brushesbeing placed within each group of brushes in the direction of relativemovement, the first group of brushes containing at least one brush, thesecond group of brushes containing the same number of brushes as thefirst group of brushes, said groups of brushes being placed alternatelyfirst and second in the direction of relative movement and the groups ofbrushes being separated by brush vacancies means, each brush of a groupof brushes for contacting a portion of the commutator and said portionincludes at least one commutator segment as the armature moves relativeto the stator, each commutator segment moving with the armature underbrushes of a group of brushes for contacting at least one brush of saidgroup of brushes, and wherein, each armature winding is connectedthrough respective commutator segments to two alternately describedgroups of brushes, which alternation is achieved by said relativemovement: first alternate connection being between first and secondgroup brushes within a repeatable section, and second alternateconnection being between first group brushes in a repeatable section andsecond group brushes in an adjacent repeatable section; the plurality ofelectrical switches control electrical connections between the pluralityof brushes and the electrical power source, whereby, first group brushesare connected to the first polarity power source terminal and secondgroup brushes are connected to the second polarity power sourceterminal; means to operate the plurality of electrical switches in asequence between no switches contacts closed and all switches contactsclosed as follows:close two switches contacts to respective two brushesonce removed from brush vacancies contrary to the direction ofmotor-caused relative movement for an alternate armature windingconnection. close one switch contact to respective one brush onceremoved from a brush vacancy contrary to the direction of motor-causedrelative movement for a respective alternate armature windingconnection, and similarly close single switches contacts to respectivebrushes once removed from brush vacancies contrary to the direction ofmotor-caused relative movement for respective alternate armature windingconnections in all the repeatable sections; additionally, as first andsecond group brushes twice removed from brush vacancies contrary to thedirection of motor-caused relative movement are available: close twoswitches contacts to respective two brushes twice removed from brushvacancies contrary to the direction of motor-caused relative movementfor an alternate armature winding connection, close one switch contactto respective one brush twice removed from a brush vacancy contrary tothe direction of motor-caused relative movement for a respectivealternate armature winding connection, and similarly close singleswitches contacts to respective brushes twice removed from brushvacancies contrary to the direction of motor-caused relative movementfor respective alternate armature winding connections in all therepeatable sections; additionally, as first and second group brushesbeyond twice removed from brush vacancies contrary to the direction ofmotor-caused relative movement are available, close switches contacts torespective brushes at each times-removed from brush vacancies contraryto the direction of motor-caused relative movement, up to and includinga times-removed equal to the number of first group brushes perrepeatable section: close two switches contacts to respective twobrushes for an alternate armature winding connection, followed byclosing single switches contacts to respective brushes for additionalrespective alternate armature winding connections in all repeatablesections; the electrical power source causes currents to flow throughelectrically connected armature windings to generate from none to atleast one pair of armature electromagnetic poles to the strength levelsavailable and having no more than two armature electromagnetic poles perrepeatable section and with adjacent poles of opposite polarity; thebrush holder means holds the plurality of brushes and substantiallyorients the armature electromagnetic poles with respect to the statormagnetic poles in the direction of relative movement; the electricalconnections means being further constructed and arranged to maintainsaid orientation by shifting the armature electromagnetic poles on saidstructure as said relative movement occurs by connecting to at least oneunenergized armature winding and by interrupting connection to at leastone previously energized armature winding; means for positioning thebrush holder means to vary the orientation of the armatureelectromagnetic poles with respect to the stator magnetic poles in thedirection of relative movement by as much as one stator magnetic polepitch; and means to cooperatively control the means to operate theelectrical switches means and the brush holder positioning means tothereby control the magnitude and direction of the motor-generated causefor relative movement.
 57. A controller for an electric motor, the motorhaving at least two pair of repeatable sections, wherein a repeatablesection includes a group of poles and windings, and comprising:a statorand an armature facing each other across an air gap and mounted forrelative movement in at least one preselected direction; the statorhaving, for each repeatable section, two stator magnetic poles arrangedfacing the air gap and side-by-side in the direction of relativemovement; magnetomotive force means energizing the stator magnetic poleswith adjacent stator magnetic poles being of opposite polarity; thearmature having an armature magnetic structure and, for each repeatablesection, multiple open circuit windings displaced from each other in thedirection of relative movement and inductivity linking said structure;means for establishing electrical connections to connect from none to atleast two of the armature windings across and electrical power sourcehaving terminals of two polarities, a first polarity terminal and asecond polarity terminal, comprising: a commutator, a plurality ofbrushes, a plurality of electrical switches, and brush holder means; thecommutator being located on the armature and comprising a plurality ofsegments spaced in the direction of relative movement and arranged insegment pairs, with the segments of a pair one stator magnetic polepitch apart and with the segments of a pair electrically connectedthrough an armature winding; the plurality of brushes to engage thecommutator, arranged in one first group of brushes and one second groupof brushes per repeatable section, said brushes being placed within eachgroup of brushes in the direction of relative movement, the first groupof brushes containing at least one brush, the second group of brushescontaining the same number of brushes as the first group of brushes,said groups of brushes being placed alternately first and second in thedirection of relative movement and the groups of brushes being separatedby brush vacancies means, each brush of a group of brushes forcontaining a portion of the commutator and said portion includes atleast one commutator segment as the armature moves relative to thestator, each commutator segment moving with the armature under brushesof a group of brushes for containing at least one brush of said group ofbrushes, and wherein, each armature winding is connected throughrespective commutator segments to two alternately described groups ofbrushes, which alternation is achieved by said relative movement: firstalternate connection being between first and second group brushes withina repeatable section, and second alternate connection being betweenfirst group brushes in a repeatable section and second group brushes inan adjacent repeatable section; the plurality of electrical switchescontrol electrical connections between the plurality of brushes and theelectrical power source, whereby, first group brushes are connected tothe first polarity power source terminal and second group brushes areconnected to the second polarity power source terminal; the repeatablesections being divided into at least two multiple-repeatable-sectiongroups such that closing switches contacts to corresponding brushes ofcorresponding repeatable sections of multiple-repeatable-section groupssimultaneously will produce same-directed, dynamically-balanced,motor-generated causes for relative movement; means to operate theplurality of electrical switches in a sequence between no switchescontacts closed and all switches contacts closed as follows:close twoswitches contacts to respective two brushes once removed from brushvacancies contrary to the direction of motor-caused relative movementfor an alternate armature winding connection in onemultiple-repeatable-section group and simultaneously close switchescontacts to corresponding brushes of corresponding repeatable sectionsof at least one other multiple-repeatable-section group, close oneswitch contact to respective one brush once removed from a brush vacancycontrary to the direction of motor-caused relative movement for arespective alternate armature winding connection in onemultiple-repeatable-section group and simultaneously close switchescontacts to corresponding brushes of corresponding repeatable sectionsof at least one other multiple-repeatable-section group, and similarly,close switches contacts to respective brushes once removed from brushvacancies contrary to the direction of motor-caused relative movementfor respective alternate armature winding connections in all therepeatable sections of one multiple-repeatable-section group andsimultaneously close switches contacts to corresponding brushes ofcorresponding repeatable sections of at least one othermultiple-repeatable-section group; additionally, as first and secondgroup brushes twice removed from brush vacancies contrary to thedirection of motor-caused relative movement are available: close twoswitches contacts to respective two brushes twice removed from brushvacancies contrary to the direction of motor-caused relative movementfor an alternate armature winding connection in onemultiple-repeatable-section group and simultaneously close switchescontacts to corresponding brushes of corresponding repeatable sectionsof at least one other multiple-repeatable-section group, close oneswitch contact to respective one brush twice removed from a brushvacancy contrary to the direction of motor-caused relative movement fora respective alternate armature winding connection in onemultiple-repeatable-section group and simultaneously close switchescontacts to corresponding brushes of corresponding repeatable section ofat least one other multiple-repeatable-section group, and similarly,close switches contacts to respective brushes twice removed from brushvacancies contrary to the direction of motor-caused relative movementfor respective alternate armature winding connections in all therepeatable sections of one multiple-repeatable-section group andsimultaneously close switches contacts to corresponding brushes ofcorresponding repeatable sections of at least one othermultiple-repeatable-section group; an additionally, as first and secondgroup brushes beyond twice removed from brush vacancies contrary to thedirection of motor-caused relative movement are available, closeswitches contacts to respective brushes at each times-removed from brushvacancies contrary to the direction of motor-caused relative movement,up to and including a times-removed equal to the number of first groupbrushes per repeatable section, as follows: close two switches contactsto respective two brushes for an alternate armature winding connectionin one multiple-repeatable-section group and simultaneously closeswitches contacts to corresponding brushes of corresponding repeatablesections of at least one other multiple-repeatable-section group,followed by closing switches contacts to respective brushes foradditional respective alternate armature winding connections in allrepeatable sections in the one multiple-repeatable-section group andsimultaneously with each switch contacts closing, close switchescontacts to corresponding brushes of corresponding repeatable sectionsof at least one other multiple-repeatable-section group; the electricalpower source causes currents to flow through electrically connectedarmature windings to generate from none to at least two pair of armatureelectromagnetic poles to the strength levels available and having nomore than two armature electromagnetic poles per repeatable section andwith adjacent poles of opposite polarity; the brush holder means holdsthe plurality of brushes and substantially orients the armatureelectromagnetic poles with respect to the stator magnetic poles in thedirection of relative movement; the electrical connections means beingfurther constructed and arranged to maintain said orientation byshifting the armature electromagnetic poles on said structure as saidrelative movement occurs by connecting to at least one unenergizedarmature winding and by interrupting connection to at least onepreviously energized armature winding; means for positioning the brushholder means to vary the orientation of the armature electromagneticpoles with respect to the stator magnetic poles in the direction ofrelative movement by as much as one stator magnetic pole pitch; andmeans to cooperatively control the means to operate the electricalswitches means and the brush holder positioning means to thereby controlthe magnitude and direction of the motor-generated cause for relativemovement.